Diver operated hand control system for an underwater vehicle

ABSTRACT

A hand control system for operating starboard and port horizontal thrusters and forward and aft vertical thrusters of an underwater diver operated vehicle. The hand control system includes starboard and port handgrips, each handgrip being mounted on the vehicle for pivotal up and down swinging movement and rotation about its longitudinal axis. Each handgrip has a horizontal thruster cam in a vertical plane which is perpendicular to the longitudinal axis of the handgrip and operable by rotation of the handgrip, and a vertical thruster cam lying in a vertical plane which includes the longitudinal axis of the handgrip and operable by a swinging movement of the handgrip. These cams in turn operate upon cam followers when the handgrip is swung and/or rotated to selectively actuate the horizontal and vertical thrusters in on, off, or reverse modes.

United States Patent [1 1 [111 3,742,885 Strickland July 3, 1973 [54] DIVER OPERATED HAND CONTROL 3,487,647 1/1970 Brecht 61/69 R SYSTEM FOR AN UNDERWATER VEHICLE 3,522,704 8/1970 Martin 60/53 A 7 I 1 t 1 d 1 l 51 Inventor g S ck an Kal ua Primary Examiner-Milton Buchler awan Assistant Examiner-Barry L. Kelmachter 1 Asslgneei The United States of Amellca as Y Attorney- Richard S. Sciascia and Ervin F. Johnston represented by the Secretary of the I Navy 57 ABSTRACT [22] Filed: Sept. 24, 1971 Appl. No: 183,501

500 WW SPHERE P;

A hand control system for operating starboard and port horizontal thrusters and forward and aft vertical thrusters of an underwater diver operated vehicle. The hand control system includes starboard and port handgrips, each handgrip being mounted on the vehicle for pivotal up and down swinging movement and rotation about its longitudinal axis. Each handgrip has a horizontal thruster cam in a vertical plane which is perpendicular to the longitudinal axis of the handgrip and operable by rotation of the handgrip, and a vertical thruster cam lying in a vertical plane which includes the longitudinal axis of the handgrip and operable by a swinging movement of the handgrip. These cams in turn operate upon cam followers when the handgrip is swung and/or rotated to selectively actuate the horizontal and vertical thrusters in on, off, or reverse modes.

10 Claims, 7 Drawing Figures 10 A r iver/(:44

PATENTEDJUL3 Ian 3. 742.885

sum: or 3 v H ll M C VIIIIIIIIIIII/IIIIIIII'IIIIIII'IIIII k DIVER OPERATED HAND CONTROL SYSTEM FOR AN UNDERWATER VEHICLE STATEMENT OF GOVERNMENT INTEREST BACKGROUND OF THE INVENTION A science has developed in calculating the work capabilities of divers at various ocean depths. Before a diver enters the water a study is usually made whether it is feasible for a diver to perform the required work at the depth involved. In some instances the required work entails repositioning an object from one bottom location to another location on the ocean floor, or retrieving the object to the ocean surface. When the object becomes too heavy for the diver, lift lines must be attached from a surface craft so as to carry out the desired operation. In repositioning an object, this latter method is not entirely satisfactory because it is extremely difficult to place the object at the new desired location. In order to overcome this problem an underwater work vehicle or underwater forklift termed the buoyancy transport vehicle" was devised by Estabrook and is set forth in his US. Pat. No. 3,434,443. This vehicle is operated by a diver, and has a pair of motorcycle-like handgrips which are manipulated to cause the vehicle to go in desired directions.

SUMMARY OF THE INVENTION The present invention provides a unique pair of handgrips for the aforementioned buoyancy transport vehicle so as to independently operate starboard and port horizontal thrusters and forward and aft vertical thrusters on the underwater vehicle. The invention provides starboard and port handgrips, each handgrip being mounted on the vehicle for pivotal up and down swinging movement and rotation about its longitudinal axis. Each handgrip has a horizontal thruster cam and a vertical thruster cam. The starboard handgrip is capable through its cams to operate on cam followers to ac- .tuate the starboard horizontal thruster on, off, or reverse by selectively rotating the handgrip, and to actuate the forward vertical thruster on, off, or reverse by selectively swinging the handgrip. The port handgrip is capable through its cams of operating on cam followers to actuate the port horizontal thruster on, off, or reverse by selectively rotating the handgrip, and to actuate the aft vertical thruster on, off, or reverse by selectively swinging the handgrip. In this manner the buoyancy transport vehicle can be maneuvered in four degrees of freedom by instinctive natural movements of the pair of handgrips.

STATEMENT OF THE OBJECTS OF INVENTION An object of the present invention is to provide a diver hand control system for operating thrusters of an underwater vehicle.

Another object is to provide a diver hand control system which includes a pair of motorcycle-like handgrips which can be operated by instinctive natural movements of the divers hands to control an underwater vehicle in any desired direction for lifting and transporting loads from one location in the ocean to another.

A further object is to provide a hand control system as described in the preceding paragraph wherein the handgrips will return to a neutral position when they BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an isometric illustration of the buoyancy transport vehicle with the hand control system shown at the aft and thereof;

FIG. 2 is a schematic illustration of the hand control system and the thrusters for propelling the buoyancy transport vehicle;

FIG. 3 is a rear view (with respect to the buoyancy transport vehicle) of the port handgrip of the control system;

FIG. 4 is a top view of the port handgrip of the control system;

FIG. 5 is a rear view of the port handgrip, like FIG. 3 with portions of the assembly removed to illustrate various details;

FIG. 6 is a view taken along VIVI of FIG. 5; and

FIG. 7 is a cross-sectional illustration of a return cam follower assembly.

DESCRIPTION OF THE PREFERRED EMBODIMENT Referring now to the drawings there is shown in FIG. 1 the buoyancy transport vehicle 10 which is similar to the vehicle described in US. Pat. No. 3,434,443. The vehicle includes a frame 12 upon which there are mounted port and starboard horizontal thrusters 14 and 16, a forward vertical thruster l8, and an aft vertical thruster 20. The thrusters may be powered by a hydraulic motor operated power unit 22 which in turn receives electric power for its motor from batteries within port and starboard battery pontoons 24 and 26. The buoyancy of the vehicle 10 may be controlled by a buoyancy sphere 28 which is selectively ballasted by gas generated from hydrazine which is stored within a hydrazine fuel container 30. At the aft end of the vehicle, and -in a convenient location for operation by a diver, is located a control console 32 upon which there are mounted port and starboard handgrips 34 and 36 for selectively and independently actuating the thrusters in an on, off, or reverse mode. Each handgrip is mounted on the vehicle for pivotal up and down swinging movement and rotation about its longitudinal axis.

As illustrated in FIG. 2 each handgrip 34 and 36 respectively has a horizontal thruster cam 38 and 40 respectively in a vertical plane which is perpendicular to the longitudinal axis of the handgrip and is operable by rotation of the handgrip, and a vertical thruster cam 42 and 44 respectively lying in a vertical plane which includes the longitudinal axis of the handgrip and is operable by swinging movement of the grip. The starboard handgrip 36 is capable, through its cam 40, to operate on a cam follower 46 to actuate the starboard horizontal thruster 16 in an on, off, or reverse mode by selectively rotating the handgrip, and, through its cam 44, to operate on a cam follower 48 to actuate the aft vertical thruster 20 in an on, off, or reverse mode by selectively swinging this handgrip. The port handgrip 34 is capable, through its cam 38, to operate on a cam follower 50 to actuate the port horizontal thruster 14 in an on, off, or reverse mode by selectively rotating the handgrip, and, through its cam 42, to operate on a cam follower 52 to actuate the forward vertical thruster 18 in an on, off, or reverse mode by selectively swinging the handgrip. It should be understood that the vertical thruster cams 42 and 44 of the handgrips 34 and 36 could be altered in their operation to operate the aft vertical thruster 20 and forward vertical thruster 18 respectively in their various modes rather than the aforementioned description of the preferred embodiment without departing from the scope of the invention. It should be noted that the arrangement described in this paragraph enables a diver to operate the underwater vehicle by natural instinctive movements of the pair of handgrips 34 and 36.

The horizontal and vertical thruster cams 38, 40, 42 and 44 may operate on plungers (to be described hereinafter) which are an integral component of pressure reducing valves 54, 56, 58, and 60 which in turn control pressurized hydraulic fluid for operating the thrusters 18, 14, 20, and 16 in the on, off, and reverse modes. These thrusters may be provided with lever arms 62, 64, 66, and 68 which are moved by spring return hydraulic cylinders 70, 72, 74, and 76 respectively. The pressure reducing valves 54, 56, 58 and 60 each have a regulated output pressure line 78, 80, 82 and 84 respectively which developes a high pressure, or middle pressure, or no pressure to the spring return hydraulic cylinders. These spring return hydraulic cylinders 70, 72, 74, and 76 have fluid return lines 86, 88, 90, and 92 which dump fluid into the thruster casings. From these casings the hydraulic fluid may be returned into the main hydraulic system which is illustrated in FIG. 2.

An upward movement of the port handgrip 34 causes the vertical thruster cam 42 to depress the cam follower 52 and the plunger of the pressure reducing valve 54. This results in an increase in regulated outlet pressure on the line 78 in proportion to the upward movement of the handle. This pressure acts on the spring return hydraulic cylinder 74 to push the motor control lever 66 on the forward vertical thruster 18 to the left position as illustrated in FIG. 2. In this position the thruster 18 provides a downward thrust which causes the vehicle to move upward. Downward movement of the handgrip 34 results in a low or no pressure on the line 78 which causes the lever 66 to assume a right position (not shown) which results in an upward directed thrusting causing a downward motion of the vehicle. When the handgrip 34 is in a neutral position, an intermediate pressure on line 78 causes the handle 66 to assume a middle position which results in an off condition of the thruster 18.

When the handgrip 34 is rotated counterclockwise (when viewed from its port end), the horizontal thruster cam 38 depresses the cam follower 50 and the plunger of valve 56 to provide a high pressure on the regulated pressure line 80 so as to cause the control arm 62 of thruster 14 to assume a left position as illustrated in FIG. 2. This results in a rotation of the propeller of thruster 14 to move the vehicle in a reverse direction. When the handgrip 34 is rotated in a clockwise direction, a low or no pressure is present on the regulated pressure line causing the lever arm 64 to assume a right position (not shown) which causes the port horizontal thruster 14 to move the vehicle in a forward direction. When the handgrip 34 is in a neutral rotated position, an intermediate pressure exists on line 80 causing the lever 62 to assume a middle position and the port horizontal thruster 14 to be in an off condition. It should still be understood that this is a description of a preferred embodiment and the movements of the vehicle can be reverse from that described above by utilizing opposite handed props on the thrusters or by interchanging the pressure and return ports on the thrusters. The operation of the handgrip 36 in relationship to the thrusters 20 and 16 is similar to that as described for the handgrip 34.

As illustrated in FIG. 2, a switch 94 on the control console 32 may be utilized for applying battery power to the electric motor within the motor pump unit 22. This supplies high pressure fluid to operate the thrusters 14, l6, l8, and 20 as well as the pressure reducing valves 56, 60, 54, and 58 to operate the thrusters in the various modes as described hereinabove. Fluid from the thrusters is returned over return lines to the motor pump unit 22. The pressure reducing valves 54, 56, 58, and 60 may be of a standard type and are obtainable from Fluid Controls, Inc. under Type 1 PDl3.

The port handgrip 34 is illustrated in more detail in FIGS. 3, 4, and 5. The starboard handgrip 36 will not be described in detail since it is similar to handgrip 34. The handgrip 34 may include a cylinder 94 which is pivoted to the vehicle console 32 by a bracket 96. The vertical thruster cam 42 is connected to the end of this cylinder so as to be in operational engagement with the cam follower 52. The cam follower 52 is, in turn, connected to the aforementioned plunger 98 of the pressure reducing valve 54. This valve 54 may be mounted to the vehicle console 32 by a bracket 100, and at the end of this bracket, there may be a screw adjustment 102 for adjusting the output pressure of the valve over the regulated pressure line 78. The port handgrip also includes a tube 104 which is slidably mounted about the cylinder 94 for rotation thereabout. A teflon sleeve 105 between the tube 104 and the cylinder 94 affords smooth rotation of the tube 104 about the cylinder 94. The horizontal thruster cam 38 is connected about the starborad end of the tube 104 so as to be in operational engagement with the horizontal thruster cam 50 (see FIG. 4). This cam is, in turn, connected to the plunger 106 of the pressure reducing valve 56. This pressure reducing valve may be connected to the vehicle console 32 by a bracket 108.

It is desirable that both cams of the handgrip 34 return to a neutral position when the diver releases his hand therefrom. In regard to the vertical thruster cam 42 this return to the neutral position may be accomplished by a return cam follower assembly 110, and in regard to the horizontal thruster cam 38 the return to the neutral position may be accomplished by a return cam follower assembly 112. The return cam follower assemblies 110 and 1 12 may be mounted to the vehicle console 32 by bracket 108. In the preferred embodiment, the axis of the plunger of the return cam follower assembly 110 is located about 75 from the axis of the plunger 98 of the cam follower 52, and the axis of the return cam follower assembly 1 12 is located about from the cam follower 50. The return cam follower assembly l 10 is illustrated in detail in FIG. 7. This assembly may include a cylinder 118 with an adjustable stop 120 at one end and a cam plunger 122 located slidably within the other end. Between the stop 120 and the cam plunger 122 there is disposed a compression spring 123 which is of sufficient strength to overcome the bias force of the cam follower 52 so as to return the pressure reducing valve 54 to a neutral position when the diver releases his hand from the handgrip 34. All of the other return cam follower assemblies may be identical to the return cam follower assembly 110 described hereinabove.

As illustrated in FIGS. 3 and 5 the vertical thruster cam 42 may extend substantially l50 about the pivotal axis 124 of the cylinder 94 so that substantially 75 of the camming surface is engageable with the cam follower 52 and the other 75 of the camming surface is engageable with the cam plunger 122 of the return cam follower assembly 110. As illustrated in FIGS. 4 and 6, the horizontal thruster cam 38 may extend substantially 360' about the tube 104 so that substantially 180 of the cam plunger of the camming surface is engageable with the cam follower 50 and the other 180 of the camming surface is engageable with the return cam follower assembly 112. A stop 126 prevents rotation of the cam 38 through greater than 180.

As illustrated in FIG. 5,'the camming surface of the vertical thruster cam 42 which engages with the return cam follower assembly 110 may have a detent 128 so as to enable the diver to sense a neutral no thrust position of the handgrip 34 for up and down swinging movements thereof. As illustrated in FIGS. 4 and 6, the camming surface of the horizontal thruster cam 38 which engages with the return cam follower assembly 1 12 may be provided with a detent 130 so that the diver can sense the neutral no thrust position of the handgrip 34 for rotating movements thereof.

It is desirable that the movements of the handgrip 34 cause independent movements of the vertical thruster cam 42 and the horizontal thruster cam 38. This may be accomplished by locating the longitudinal axis of the pivotal pin 124 so that it passes through the center of the horizontal thruster cam 38 and orthogonally intersects the longitudinal axis of the cylinder 94, and locating the longitudinal axis of the valve plunger 106 (see FIG. 4) in alignment with the center line of the pin 124. With this arrangement, response of the cam followers 52 and 50 to swinging and rotational movements of the handgrip 34 will be independent of one another.

In the operation of the hand control system for the vehicle the diver grasps the left handgrip 34 with his left hand and the right handgrip 36 with his right hand and trails along behind the vehicle as it is propelled and controlled through various maneuvers in the water. When the diver desires to go forward with the vehicle he rotates the handgrips 34 and 36 clockwise (when viewed from the port side) in the same manner that a motorcycle rider would cause his motorcycle to go forward. To reverse the vehicle, the diver rotates the handgrips in the opposite direction, and when the diver desires to stop forward or rearward motion of the vehicle, he releases these handgrips so that they will return to their no thrust position. In operation of this vehicle it has been found that some divers prefer the grips to be rotated just opposite to that described hereinabove for forward and rearward motion of the vehicle. This may be accomplished by merely using opposite handed props on these thrusters l4 and 16. In order to move the vehicle upwardly the diver merely rotates the handgrips 34 and 36 in an upward direction, and when he wants the vehicle to go down he moves the handgrips 34 and 36 downwardly. When he releases these handgrips they return to their neutral positions and the thrusters 18 and 20 stop in their rotation. if the diver desires the vehicle to make a right turn he will selectively operate the thrusters 14 and 16, and if he desires the vehicle to be tilted in its attitude he may selectively operate the thrusters l8 and 20.

With the invention described hereinabove a hand control system is provided which enables a diver to utilize natural instinctive movements of his hands to cause the vehicle 10 to move to desired positions for transferring loads from one location on the ocean bottom to another location or raising these loads to the ocean surface. In accomplishing this purpose a hook at the bottom of the vehicle can be attached to a load and any of the above movements can be accomplished.

Obviously many modifications and variations of the invention are possible in the light of the above teachings. It is therefore to be understood, that within the scope of the appended claims, the invention may be practiced otherwise than as specifically described.

I claim:

1. A hand control system for operating starboard and port horizontal thrusters and forward and aft vertical thrusters on an underwater diver-operated vehicle comprising:

starboard and port handgrips, each handgrip being mounted on the vehicle for pivotal up and down swinging movement and rotation about its longitudinal axis; each handgrip carrying a horizontal thruster cam which extends along a vertical plane which is perpendicular to the longitudinal axis of the handgrip and which is movable by rotation of the handgrip, and carrying a vertical thruster cam which extends along a vertical plane which includes the longitudinal axis and which is movable by swinging movement of the handgrip; the starboard handgrip being capable through its cams to operate on cam followers to actuate the starboard horizontal thruster on, off, or reverse by selectively rotating the handgrip, and to actuate one of the vertical thrusters on, off, or reverse, by selectively swinging the handgrip; and t the port handgrip being capable through its cams to operate on cam followers to actuate the port horizontal thruster on, off, or reverse by selectively rotating the handgrip, and to actuate the other vertical thruster on, off, or reverse by selectively swinging the handgrip,

whereby the underwater vehicle can be maneuvered in any direction by instinctive natural movements of said pair of handgrips.

2. A hand control system, as claimed in claim 1, including:

said cam followers being mounted on the vehicle in operable engagement with the horizontal and vertical thruster cams; and

power source means, including plunger operated pressure reducing valves operable by said cam followers, mounted on the vehicle for operating the thrusters on, off, or reverse, depending upon the position of the respective cam followers.

3. A control system as claimed in claim 1 including:

7 8 each cam having a detent for enabling the diver to cam follower and the other 180 of the camming sense a neutral no thrust positions of the handgrips. surface is engageable with a respective return cam 4. A control system as claimed in claim 1 including: follower assembly. a return cam follower assembly corresponding to 8, A h d control system as l i d i l i 7,

each of said cam followers and capable of being 5 l di mounted the vehicle for biasing the calm to said camming surface of the vertical thruster cam their neutral no thrust positiohshaving a detent which is engageable with a respechahd control System as claimed in claim 1 tive return cam follower for enabling the diver to Pnsmg: sense a neutral no thrust position of the hand grips each handgrip including a cylinder which is pivoted 10 for up and down swinging movements; and

at one end to the vehicle;

one of the vertical thruster cams being connected to the pivoted end of each respective cylinder;

a tube slidably mounted about each cylinder for rotation thereabout; and

one of the horizontal thruster cams connected about each respective tube.

6. A hand control system as claimed in claim 5 ineluding:

cam followers being mounted on the vehicle in operable engagement with the horizontal and yertical thruster cams; and

said camming surface of the horizontal thruster cam having a detent which is engageable with a respective return cam follower for enabling the diver to sense neutral no thrust positions of the handgrips for rotating movements.

9. A hand control system as claimed in claim 8, in-

cluding:

power source means, including plunger valves operable by said cam followers, mounted on the vehicle for operating the thrusters on, off, or reverse, depending upon the position of the respective cam a return cam follower assembly corresponding to followers each of said cam followers and capable of being 10 A hand control system as clalmed in claim 9, mmounted on the vehicle for biasing the cams to cludmg:

their neutral no thrust positions. each of the cylinders being pivotally mounted on the 7. A hand control system as claimed in claim 6, invehicl? P i cluding; the longitudinal axis of each pin passing through the each vertical thruster cam extending substantially center of a respectlvehol'izohtal t e h and 150 about the 'pivot axis of the cylinder so that orthogehally lhtersectlhg the longitudinal axle of a substantially 75 of the camming surface is engagerespective FY f able with a respective cam follower and the other the l g l Q 0f 8 e pectlve valve plunger 75 of the camming surface is engageable with a remg a g e h the cenlerlmfi 0f eaCh pm, spective return cam follower ssembl and whereby response of the cam followers to swinging each horizontal thruster cam extending substantially 5 and rotational movements of the handgrips are in- 360 about the tube so that substantially 180 of the dependent of one another. camming surface is engageable with a respective 

1. A hand control system for operating starboard and port horizontal thrusters and forward and aft verticaL thrusters on an underwater diver-operated vehicle comprising: starboard and port handgrips, each handgrip being mounted on the vehicle for pivotal up and down swinging movement and rotation about its longitudinal axis; each handgrip carrying a horizontal thruster cam which extends along a vertical plane which is perpendicular to the longitudinal axis of the handgrip and which is movable by rotation of the handgrip, and carrying a vertical thruster cam which extends along a vertical plane which includes the longitudinal axis and which is movable by swinging movement of the handgrip; the starboard handgrip being capable through its cams to operate on cam followers to actuate the starboard horizontal thruster on, off, or reverse by selectively rotating the handgrip, and to actuate one of the vertical thrusters on, off, or reverse, by selectively swinging the handgrip; and the port handgrip being capable through its cams to operate on cam followers to actuate the port horizontal thruster on, off, or reverse by selectively rotating the handgrip, and to actuate the other vertical thruster on, off, or reverse by selectively swinging the handgrip, whereby the underwater vehicle can be maneuvered in any direction by instinctive natural movements of said pair of handgrips.
 2. A hand control system, as claimed in claim 1, including: said cam followers being mounted on the vehicle in operable engagement with the horizontal and vertical thruster cams; and power source means, including plunger operated pressure reducing valves operable by said cam followers, mounted on the vehicle for operating the thrusters on, off, or reverse, depending upon the position of the respective cam followers.
 3. A control system as claimed in claim 1 including: each cam having a detent for enabling the diver to sense a neutral no thrust positions of the handgrips.
 4. A control system as claimed in claim 1 including: a return cam follower assembly corresponding to each of said cam followers and capable of being mounted on the vehicle for biasing the cams to their neutral no thrust positions.
 5. A hand control system as claimed in claim 1 comprising: each handgrip including a cylinder which is pivoted at one end to the vehicle; one of the vertical thruster cams being connected to the pivoted end of each respective cylinder; a tube slidably mounted about each cylinder for rotation thereabout; and one of the horizontal thruster cams connected about each respective tube.
 6. A hand control system as claimed in claim 5 including: cam followers being mounted on the vehicle in operable engagement with the horizontal and vertical thruster cams; and a return cam follower assembly corresponding to each of said cam followers and capable of being mounted on the vehicle for biasing the cams to their neutral no thrust positions.
 7. A hand control system as claimed in claim 6, including: each vertical thruster cam extending substantially 150* about the pivot axis of the cylinder so that substantially 75* of the camming surface is engageable with a respective cam follower and the other 75* of the camming surface is engageable with a respective return cam follower assembly; and each horizontal thruster cam extending substantially 360* about the tube so that substantially 180* of the camming surface is engageable with a respective cam follower and the other 180* of the camming surface is engageable with a respective return cam follower assembly.
 8. A hand control system as claimed in claim 7, including: said camming surface of the vertical thruster cam having a detent which is engageable with a respective return cam follower for enabling the diver to sense a neutral no thrust position of the hand grips for up and down swinging movements; and said camming surface of the horizontal thruster cam having a detent which is engageable with a respective return caM follower for enabling the diver to sense neutral no thrust positions of the handgrips for rotating movements.
 9. A hand control system as claimed in claim 8, including: power source means, including plunger valves operable by said cam followers, mounted on the vehicle for operating the thrusters on, off, or reverse, depending upon the position of the respective cam followers.
 10. A hand control system as claimed in claim 9, including: each of the cylinders being pivotally mounted on the vehicle by a pin; the longitudinal axis of each pin passing through the center of a respective horizontal thruster cam and orthogonally intersecting the longitudinal axis of a respective cylinder, the longitudinal axis of a respective valve plunger being aligned with the centerline of each pin, whereby response of the cam followers to swinging and rotational movements of the handgrips are independent of one another. 